Apparatus for forward collision-avoidance assist-junction turning and method for the same

Abstract

An apparatus for forward collision avoidance assist-junction turning of a vehicle includes a sensor for acquiring at least one of a steering angle, a steering angle speed, or a yaw rate of a vehicle, or a size, a position, or a speed of an opposite target. A traveling path area for a left-turn or a right-turn is calculated by a controller based on the steering angle or the yaw rate of the vehicle. The traveling path area is then corrected by the controller based on at least a portion of the steering angle, the steering angle speed, or the yaw rate of the vehicle, or the size, the position, and the speed of the opposite target. A warning against the collision between the vehicle and the opposite target and a control operation to prevent the collision are performed based on the corrected traveling path area.

What is claimed is: 
     
       1. An apparatus for forward collision avoidance assist-junction turning of a vehicle, the apparatus comprising:
 a controller configured to:
 acquire, using at least one sensor, a steering angle and a yaw rate of the vehicle having a forward collision avoidance assist-junction turning (FCA-JT) function, and a position of an opposite target that is traveling in an opposite direction to the vehicle; 
 acquire, using the at least one sensor, at least one of a steering angle speed of the vehicle, or a size or a speed of the opposite target; 
 calculate a travelling path area for a left-turn or a right-turn of the vehicle based on the acquired steering angle and the acquired yaw rate; 
 correct the travelling path area based on at least one of the steering angle, the steering angle speed or the yaw rate of the vehicle, or the size, the position or the speed of the opposite target; and 
 output a warning against a collision between the vehicle and the opposite target or perform a control operation to prevent the collision, based on the corrected travelling path area and the position of the opposite target, 
 wherein the controller is further configured to:
 correct the travelling path area, by calculating an area to be removed from the travelling path area based on the steering angle, the steering angle speed, and the yaw rate of the vehicle; 
 calcuate a first length and a second length, wherei the first length and the second length are proportional to a sum of a rate of change in the steering angle, a rate of change in the steering angle speed, and a rate of change in the yaw rate of the vehicle; and 
 calculate a right triangle, which serves as the area to be removed, having two sides including a first line segment, which is positioned on a straight line linking a first point to a second point and has the first length, and a second line segment, which is perpendicular to the first line segment, extends in a direction opposite to a forward direction of the vehicle from an inner end of the first line segment, and has the second length, and 
 
 wherein the first point is positioned at an end, which is in the forward direction of the vehicle, of an inner boundary line of the travelling path area, and the second point is positioned at an end, which is in the forward direction of the vehicle, of an outer boundary line of the travelling path area, to correct the travelling path. 
 
 
     
     
       2. The apparatus of  claim 1 , wherein the at least one sensor includes:
 a steering angle sensor configured to acquire the steering angle and the steering angle speed of the vehicle; and 
 a yaw rate sensor configured to acquire the yaw rate of the vehicle. 
 
     
     
       3. The apparatus of  claim 1 , wherein the opposite target includes at least one of an opposite vehicle, a bicycle, or a pedestrian. 
     
     
       4. The apparatus of  claim 1 , wherein the controller is further configured to:
 calculate the first length and the second length, wherein the first length and the second length are proportional to the sum of the rate of change in the steering angle, the rate of change in the steering angle speed, and the rate of change in the yaw rate of the vehicle, which are applied with weights. 
 
     
     
       5. The apparatus of  claim 1 , wherein the controller is further configured to calculate the first length and the second length, based on at least one of the speed, the size, or the position of the opposite target. 
     
     
       6. The apparatus of  claim 1 , wherein the controller is further configured to correct the travelling path area, based on a width of the travelling path area, which is calculated by adjusting the inner boundary of the travelling path area outward based on at least one of the speed of the position of the opposite target or the steering angle of the vehicle, or the yaw rate of the vehicle. 
     
     
       7. The apparatus of  claim 1 , wherein the controller is further configured to:
 correct the travelling path area, based on a width of the travelling path area, which is calculated depending on a rate determined based on the position of the opposite target, 
 wherein the rate determined based on the position of the opposite target is a value referring to a ratio of a first width of the travelling path area, which is formed after the correction, with respect to a second width of the travelling path area which is formed before the correction. 
 
     
     
       8. The apparatus of  claim 7 , wherein the rate is determined further based on the size of the opposite target. 
     
     
       9. A method for forward collision avoidance assist-junction turning of a vehicle, the method comprising:
 acquiring a steering angle and a yaw rate of the vehicle having a forward collision avoidance assist-junction turning (FCA-JT) function, and a position of an opposite target that is traveling in an opposite direction to the vehicle, and acquiring at least one of a steering angle speed of the vehicle, or a size or a speed of the opposite target; 
 calculating a travelling path area for a left-turn or a right-turn of the vehicle based on the acquired steering angle and the acquired yaw rate; 
 correcting the travelling path area based on at least one of the steering angle, the steering angle speed, or the yaw rate of the vehicle, or the size, the position, or the speed of the opposite target; and 
 outputting a warning against a collision between the vehicle and the opposite target or performing a control operation to prevent the collision, based on the corrected travelling path area and the position of the opposite target, 
 wherein the method is further comprising:
 correcting the travelling path area, by calculating an area to be removed from the travelling path area based on the steering angle, the steering angle speed, and the yaw rate of the vehicle; 
 calculating a first length and a second length, wherein the first length and the second length are proportional to a sum of a rate of change in the steering angle, a rate of change in the steering angle speed, and a rate of change in the yaw rate of the vehicle; and 
 calculating a right triangle, which serves as the area to be removed, having two sides including a first line segment, which is positioned on a straight line linking a first point to a second point and has the first length, and a second line segment which is perpendicular to the first line segment, extends in adirection opposite to a forward direction of the vehicle from an inner end of the first line segment, and has the second length, and 
 
 wherein the first point is positioned at an end, which is in the forward direction of the vehicle, of an inner boundary line of the travelling path area, and the second point is positioned at an end, which is in the forward direction of the vehicle, of an outer boundary line of the travelling path area, to correct the travelling path area. 
 
     
     
       10. The method of  claim 9 , wherein the acquiring of the steering angle and the yaw rate of the vehicle, and the position of the opposite target, and the acquiring of the at least one of the steering angle speed of the vehicle, or the size or the speed of the opposite target includes:
 acquiring the steering angle and the steering angle speed of the vehicle through a steering sensor; and 
 acquiring the yaw rate of the vehicle through the yaw rate sensor. 
 
     
     
       11. The method of  claim 9 , wherein the opposite target includes at least one of an opposite vehicle, a bicycle, or a pedestrian. 
     
     
       12. The method of  claim 9 , wherein the correcting of the travelling path area, by calculating the area to be removed from the travelling path area based on the steering angle, the steering angle speed, and the yaw rate of the vehicle includes:
 calculating the first length and the second length, wherein the first length and the second length are proportional to the sum of the rate of change in the steering angle, the rate of change in the steering angle speed, and the rate of change in the yaw rate of the vehicle, which are applied with weights. 
 
     
     
       13. The method of  claim 9 , wherein the calculating of the first length and the second length includes calculating the first length and the second length, based on at least one of the speed, the size, or the position of the opposite target. 
     
     
       14. The method of  claim 9 , wherein the correcting of the travelling path area includes:
 correcting the travelling path area, based on a width of the travelling path area, which is calculated by adjusting the inner boundary of the travelling path area outward based on at least one of the position of the opposite target, or the steering angle, or the yaw rate. 
 
     
     
       15. The method of  claim 14 , wherein the correcting of the width of the travelling path area by adjusting the inner boundary of the travelling path area outward includes:
 correcting the travelling path area, based on the width of the travelling path area, which is calculated depending on a rate determined based on the position of the opposite target, 
 wherein the rate determined based on the position of the opposite target is a value referring to a ratio of a first width of the travelling path area, which is formed after the correction, with respect to a second width of the travelling path area which is formed before the correction. 
 
     
     
       16. The method of  claim 15 , wherein the rate determined based on the position of the opposite target is determined further based on the size of the opposite target.